version: 66.04
glider: 5
mission: 6
dive: 15
start: 7 30 109 7 22 56
data:
$ID,5
$MISSION,6
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,83.300003
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,122
$TGT_DEFAULT_LON,48
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-98834.586
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.153585
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,071806,4805.904,-12221.995,30,1.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-70.2
$GPS2,072237,4805.871,-12222.011,11,1.5,16,18.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,344.8,240,-27.3,-6.002
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.87,-28.9,0.0,0.0,0,155,0.00,0.00,-134.45,0.000,6,0.000,0.000,418,2231,3356
$GC,159,-1.90,-51.7,2.4,-2.8,24,179,10.98,2.55,-2.83,0.000,4,0.171,0.064,2376,822,3450
$GC,198,-0.70,-51.7,7.7,-12.1,30,206,1.35,2.53,0.00,0.000,6,0.119,0.051,2638,2233,3450
$GC,276,-1.27,-70.6,11.1,-3.4,43,283,0.50,0.00,-1.65,0.000,6,0.034,0.000,2505,2233,3527
$GC,352,-1.40,-70.6,16.0,-7.1,56,359,0.00,2.55,0.00,0.000,4,0.000,0.056,2504,817,3528
$GC,390,-1.55,-70.6,19.0,-7.7,62,397,0.20,2.58,0.00,0.000,6,0.044,0.051,2449,2251,3528
$GC,468,-1.55,-70.6,26.0,-9.1,70,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2251,3528
$GC,659,-1.55,-70.6,43.8,-9.4,88,664,0.00,2.50,0.00,0.000,4,0.000,0.063,2449,3643,3528
$GC,693,-1.47,-70.6,47.2,-9.4,90,700,0.12,2.50,0.00,0.000,6,0.115,0.048,2471,2229,3528
$GC,898,-1.54,-70.6,64.1,-8.0,102,902,0.00,2.58,0.00,0.000,4,0.000,0.063,2470,3639,3528
$GC,916,-1.59,-70.6,65.6,-7.8,103,920,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2229,3529
$GC,1248,-1.68,-70.6,91.1,-7.7,119,1250,0.20,0.00,0.00,0.000,6,0.048,0.000,2415,2212,3528
$STATE,1555,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1555,begin apogee
$GC,1563,-0.33,0.0,117.7,9.0,143,1623,1.48,0.00,56.70,0.807,6,0.104,0.000,2718,2097,3239
$STATE,1624,end apogee,CONTROL_FINISHED_OK
$STATE,1624,begin climb
$GC,1627,1.93,70.6,119.1,0.0,149,1696,2.20,2.65,55.90,0.798,4,0.051,0.057,3221,3522,2950
$GC,1709,1.57,70.6,110.0,17.2,157,1714,0.45,2.50,0.00,0.000,6,0.114,0.044,3138,2122,2951
$GC,2027,1.48,70.6,64.8,12.8,175,2032,0.00,2.50,0.00,0.000,4,0.000,0.054,3137,708,2951
$GC,2078,1.34,70.6,57.6,14.0,177,2083,0.25,2.53,0.00,0.000,6,0.109,0.048,3090,2126,2951
$GC,2404,1.42,70.6,24.2,9.8,204,2409,0.00,2.53,0.00,0.000,4,0.000,0.060,3090,3534,2950
$GC,2451,1.50,70.6,19.2,10.5,208,2458,0.12,2.47,0.00,0.000,6,0.056,0.045,3125,2130,2950
$GC,2527,1.50,70.6,11.6,9.8,221,2533,0.00,2.50,0.00,0.000,4,0.000,0.054,3125,710,2950
$GC,2580,1.44,70.6,6.5,9.7,230,2587,0.00,2.47,0.00,0.000,6,0.000,0.049,3124,2107,2949
$STATE,2615,end climb,SURFACE_DEPTH_REACHED
$STATE,2615,begin surface coast
$FINISH,2.4,1.020535
$STATE,2677,end surface coast,CONTROL_FINISHED_OK
$STATE,2677,begin surface
$SM_CCo,2701,229.73,0.741,0,0,1199,500.17
$SM_GC,0.25,0.00,0.00,229.73,0.000,0.000,0.741,427,2243,1199,-10.89,0.34,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1783
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.1,35.8
$24V_AH,24.0,1.819
$10V_AH,10.1,1.085
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.900,40.800,112.600,229.725,0.000,37.759,47.270,87.667,1.250,0.000,0.000,16.840,440.027,1473.213,483.109,529.828,291.233,0.000,772.698,0.000,522.646,0.000,11.385,0.000
$DEVICE_MAMPS,171.041,64.428,806.884,740.922,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,165.243,184.857,425.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12730,247
$CAP_FILE_SIZE,41284,0
$CFSIZE,254472192,252235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,300709,081306,4806.031,-12221.942,40,1.0,40,18.3